EP0904574A1 - Method for controlling an aerodyne for the vertical avoidance of a zone - Google Patents
Method for controlling an aerodyne for the vertical avoidance of a zoneInfo
- Publication number
- EP0904574A1 EP0904574A1 EP97926088A EP97926088A EP0904574A1 EP 0904574 A1 EP0904574 A1 EP 0904574A1 EP 97926088 A EP97926088 A EP 97926088A EP 97926088 A EP97926088 A EP 97926088A EP 0904574 A1 EP0904574 A1 EP 0904574A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- alt
- altitude
- aerodyne
- zone
- point
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/04—Control of altitude or depth
- G05D1/06—Rate of change of altitude or depth
- G05D1/0607—Rate of change of altitude or depth specially adapted for aircraft
- G05D1/0615—Rate of change of altitude or depth specially adapted for aircraft to counteract a perturbation, e.g. gust of wind
Definitions
- the present invention relates to an automatic piloting method of an aerodyne allowing the vertical avoidance of an area, for example a dangerous weather area or in which the comfort and safety of the flight are likely to be affected.
- a non-visible zone for example of strong turbulence, such as clear sky turbulence, or in which the risk of icing is significant.
- This zone is roughly delimited by a large horizontal contour and upper and lower vertical limits
- Such information is, for example, received by the aerodyne via a digital data transmission device, for example Data-Lmk, and has been sent by a ground station, possibly based on information sent by neighboring aerodynes equipped with an ADS (Automatic Dependent Surveillance) system
- the object of the present invention is to eliminate this drawback and to lighten the task of the pilot. To this end, it proposes a method for the automatic piloting of an aerodyne for the vertical avoidance of a fixed zone with predefined geometric contours, the aerodyne being equipped with an automatic piloting device, in which a planned route, cruising flight altitude and the position of the intended point of descent to the runway.
- this precedent is characterized in that it successively comprises the following stages:
- the pilot is completely relieved of the modification of the flight plan and the piloting of the aerodyne in order to avoid the danger zone.
- the area is avoided from below when the upper altitude of the area is above the maximum altitude likely to be reached by the aerodyne at the point of entry, or when the planned point of descent is in the cylindrical volume.
- the avoidance altitude is preferably equal to the optimal altitude of the aerodyne at the point of entry.
- FIG. 1 schematically represents the electronic equipment of an aerodyne comprising a computer intended to implement the method according to the invention
- FIG. 2 schematically represents in perspective the trajectory of an aerodyne which crosses a cylindrical volume enveloping an area to be avoided;
- FIG. 3 shows in section in a vertical plane the initially planned trajectory of the aerodyne, and the possible avoidance trajectories, relative to the cylindrical volume enveloping the zone to be avoided;
- Figures 4, 5a and 5b schematically illustrate the algorithm executed to process information relating to the limits of an area to be avoided;
- the avoidance method according to the invention is particularly designed to be executed by a computer 4 installed on board an aerodyne, which is coupled via a data transmission bus 5 called “airplane bus", to navigation equipment including an automatic pilot device 14 and navigation instruments 16, to a digital data transmission device 15, for example Data-Link, as well as to an interface device man / machine (HMI) 6 comprising a control element and signaling elements, such as a display screen 7 and a loudspeaker 8 installed in the cockpit.
- the automatic piloting device 14 comprises a memory in which the planned trajectory of the aerodyne is recorded, comprising a lateral trajectory and a vertical profile.
- the lateral trajectory consists of a road formed by a succession of straight lines between the starting point and the destination point, and transition trajectories making it possible to connect one segment to the other.
- the vertical profile indicates in particular the cruising altitude and the position of the point of descent to the planned runway.
- the data transmission device 15 constituted for example by a Data-Link communication system, is capable of receiving meteorological information from a ground station or aerodynes located within radio range. This information makes it possible to locate an area of meteorological activity, for example, where there is strong turbulence or significant icing conditions.
- the computer 4 executes the algorithm shown in FIG. 4.
- This algorithm consists first of all, in step 21, in acquiring the data supplied by the data transmission device 15 and in delimiting the meteorological zone by a cylindrical volume 10 defined by a horizontal contour and lower and upper altitudes ( Figure 2).
- step 22 the computer 4 proceeds to locate the route 2 defined by the planned flight plan, with respect to the meteorological zone. For this, the computer 4 accesses the definition of the planned flight plan, which is for example stored by the automatic pilot device 14.
- the computer 4 sends to the step 23 a message intended for the display 7 to warn the pilot that the route 2 to be traveled by the aerodyne 1 crosses a zone of meteorological activity 10.
- This information can be supplemented by the display on the screen 7 of the map of the region overflown with overprinted indication of the area's boundaries.
- an avoidance trajectory such as A1-A2-A3-A4 passing above the cylindrical volume 10 or B1-B2-B3-B4 passing below the cylindrical volume 10, shown in FIG. 3
- These trajectories are defined by an exit point A1, B1 from the initially planned trajectory, an altitude change phase A1-A2, B1-B2 to reach the avoidance altitude, a phase at constant altitude A2-A3 , B2-B3 at the avoidance altitude, and a descent phase returning to the planned trajectory A3-A4, B3-B4 and a return point A4, B4 to the planned trajectory.
- this return point may be located after the descent point T initially planned, the avoidance trajectory directly joining the descent trajectory 2 ′ at the avoidance altitude.
- step 24 the computer 4 triggers the determination of an avoidance trajectory. During this step, it therefore determines in particular the avoidance altitude, an example of a calculation algorithm of which is shown in FIGS. 5a and 5b and the exit point A1, B1 of the trajectory planned to reach the altitude of determined avoidance (figure 3)
- This point is calculated taking into account the characteristics of the aerodyne, the air regulations which define a maximum rate of climb or descent, as well as the difference between the current altitude of aerodyne 1 and that of avoidance to reach.
- step 25 the computer 4 waits for validation by the pilot of the new flight plan including the avoidance trajectory determined in step 24, and this until the exit point is exceeded A1, B1 of route 2 initially planned 2 (step 26). While waiting, the computer 4 calculates and displays the value of the distance from this exit point A1, B1, taking into account the current position of the aerodyne 1, this value being refreshed periodically (step 27).
- the pilot If during this wait, the pilot has validated the new flight plan, it is sent to the automatic pilot device 14 to replace that 2 initially planned, and then becomes active (step 28). The computer 4 then again waits for new information in step 21.
- step 29 a message to the pilot to indicate that this exit point has been exceeded and that the bypassing the area is now impossible.
- step 30 it calculates the distance between the current position of the aerodyne 1 and the entry point Z of the zone delimited by the cylindrical volume 10. As long as the aerodyne 1 has not reached the point Z, this distance is displayed with periodic refresh (step 31).
- step 32 the computer 4 sends an alert message which signals to the pilot that the aerodyne 1 is in the meteorological zone 10 (step 32).
- the computer 4 then waits for the exit from the zone delimited by the cylindrical volume 10, taking into account the position of the exit point Z 'of this zone, as well as the current position and the speed of the aerodyne. 1 (step 33), before returning to step 21 of data acquisition, with erasure of the alert message.
- the determination of the avoidance altitude begins with the calculation of the position of the entry point Z in the zone to be avoided, as well as of the distance separating this point from the current position of the aerodyne 1 and the mass of the latter at this point, taking into account the current mass and the fuel consumption of the aerodyne (step 41).
- step 42 the computer 4 determines the optimal (alt.opti) and maximum (alt.max) altitudes of aerodyne 1 at point Z taking into account the mass and performance of the aerodyne, as well as the distance separating the aerodyne from this point. If the altitude of the upper limit of the area to be avoided (upper area) is not higher than the maximum altitude (alt.max) that aerodyne 1 can reach at point Z (step 43), the computer 4 goes to step 58 shown in FIG. 5b. Otherwise, the higher avoidance (over the zone) is impossible and therefore lower avoidance (from below the zone) is compulsory, and the computer 4 goes to step 44 where it verifies that the altitude (ie inf.
- This minimum altitude can either be of regulatory origin, such as MEA (Minimum Enroute Altitude), and MORA (Minimum Offroute Altitude) altitudes, or of operational origin (Minimum Operational Altitude which corresponds to the regulatory flight level above the level FL195 for example).
- MEA Minimum Enroute Altitude
- MORA Minimum Offroute Altitude
- operational origin Minimum Operational Altitude which corresponds to the regulatory flight level above the level FL195 for example.
- the altitude of the lower limit of the zone must be greater than the minimum authorized altitude, and must be greater than a value (alt.D) obtained by subtracting a certain predetermined value from the initial altitude.
- step 45 the computer 4 checks to step 45, if the altitude of the lower limit of the zone (alt.inf.zone) is higher than the optimal altitude (alt.opti) calculated in step 42. If this is the case the altitude avoidance to join (alt.evit) corresponds to the optimal altitude (step 46), otherwise the avoidance altitude is just below zone 10, calculated with a certain safety margin (step 47).
- the rest of the algorithm consists in determining the starting point of descent for landing.
- the computer 4 determines in step 48 the position of the exit point Z ′ from the planned route 2 of the cylindrical volume 10, and the distance between this point and the planned point T of descent to the landing runway. If this distance is greater than a threshold value, for example 100 nautical miles, this means that the aerodyne can reach the descent point T at the planned altitude (step 50). Otherwise, the aerodyne 1 must not join this descent point T, but will remain at the avoidance altitude calculated previously, until it joins the descent phase 2 'of the planned trajectory. .
- a threshold value for example 100 nautical miles
- the computer 4 determines the new descent point T 'or T "which corresponds to the junction point of the avoidance trajectory (lower or higher) at the avoidance altitude with the descent trajectory 2' initially planned (step At the end of steps 50 and 51, the execution continues with step 25. If in step 43, the upper altitude (alt.sup.zone) of zone 10 is lower than the maximum altitude (alt.max) that aerodyne 1 can reach calculated in step 42, the computer 4 determines in step 58, whether the planned descent point T is located in zone 10 or not, by comparing the distances between the current position of the aerodyne 1 and the points Z ′ and T (FIG. 5b).
- step 60 If the point T is in the area, the upper avoidance is not possible and the computer 4 performs a lower avoidance calculation by going to step 59 where it checks that the lower avoidance is possible. Otherwise, the computer determines in step 60 whether lower avoidance is possible by comparing the lower altitude (alt.inf.zone) of zone 10 with the minimum authorized altitude (alt.min), thus than the value (alt.D) (obtained by subtracting a certain predetermined value from the altitude given by the original flight plan). If lower avoidance is not possible, avoidance is performed by passing over the area.
- step 64 If avoidance is possible above and below the area, and if the current altitude (alt.airplane) of aerodyne 1 is lower than the optimal altitude (alt.opti) (step 64), then we proceed to a higher avoidance, otherwise we proceed to a lower avoidance.
- step 59 the upper avoidance is not possible and the computer examines whether the lower avoidance is possible by comparing, as has already been described, the lower altitude (alt.inf.zone) of the area 10 to the minimum altitude values (alt.min and alt.D). If lower avoidance is impossible, processing continues from step 29.
- the computer 4 compares the optimal altitude (alt.opti) with the higher altitude (alt.sup.zone) of zone 10 (step 65). If the optimal altitude is higher than the upper altitude of zone 10, the avoidance altitude (alt.evit) corresponds to the optimal altitude (alt.opti) (step 66), otherwise, the altitude d avoidance corresponds to the upper altitude (alt.sup.zone) of zone 10 with a safety margin (step 67).
- the execution of the algorithm continues with step 48, to determine the position of the point of descent T or T "towards the runway.
- the computer 4 examines whether the optimal altitude (alt.opti) is not less than the lower altitude (alt.inf. zone) of zone 10 (step 68), the avoidance altitude (alt.evit) corresponds to the lower altitude of zone 10 with a safety margin (step 69), otherwise it corresponds to the optimal altitude (step 70).
- the computer then goes to step 48 described above to determine the point of descent T or T towards the runway.
- the altitude to be respected by the aerodyne is calculated in the form of a flight level, the flight levels being spaced apart by 100 feet (30.48 m).
- the computer 4 also determines the optimal, respectively maximum flight levels, by rounding the altitudes calculated to the nearest, respectively lower flight level.
- the upper altitude of the area is in fact compared to the maximum flight level.
- the lower altitude of the zone is compared to the value alt.D obtained by subtracting from the flight level initially planned, for example, the height of three flight levels, as well as from the minimum flight level FL195.
- the avoidance altitude is calculated in flight level, and the margin used in steps 47, 67 and 69 corresponds to a flight level.
Abstract
Description
Claims
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR9607078A FR2749675B1 (en) | 1996-06-07 | 1996-06-07 | METHOD FOR CONTROLLING AN AERODYNE FOR THE VERTICAL AVOIDANCE OF A ZONE |
FR9607078 | 1996-06-07 | ||
PCT/FR1997/000972 WO1997048027A1 (en) | 1996-06-07 | 1997-06-03 | Method for controlling an aerodyne for the vertical avoidance of a zone |
Publications (2)
Publication Number | Publication Date |
---|---|
EP0904574A1 true EP0904574A1 (en) | 1999-03-31 |
EP0904574B1 EP0904574B1 (en) | 2000-01-26 |
Family
ID=9492823
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP97926088A Expired - Lifetime EP0904574B1 (en) | 1996-06-07 | 1997-06-03 | Method for controlling an aerodyne for the vertical avoidance of a zone |
Country Status (7)
Country | Link |
---|---|
US (1) | US6161063A (en) |
EP (1) | EP0904574B1 (en) |
JP (1) | JP2000515088A (en) |
CA (1) | CA2257338C (en) |
DE (1) | DE69701223T2 (en) |
FR (1) | FR2749675B1 (en) |
WO (1) | WO1997048027A1 (en) |
Cited By (1)
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US7830274B2 (en) | 2007-02-14 | 2010-11-09 | Siemens Aktiengesellschaft | Method and device for improving traffic safety |
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FR2787587B1 (en) * | 1998-12-18 | 2001-10-05 | Sextant Avionique | PROCESS FOR THE REAL-TIME DEVELOPMENT OF TRAJECTORIES FOR AN AIRCRAFT |
FR2821466B1 (en) | 2001-02-26 | 2003-05-16 | Eads Airbus Sa | DEVICE FOR REVIEWING THE FLIGHT PLAN OF AN AIRCRAFT, IN PARTICULAR A TRANSPORT PLANE |
AUPR772001A0 (en) * | 2001-09-17 | 2001-10-11 | Kenny, Craig Anthony | Aircraft avoidance system for preventing entry into an exclusion zone |
WO2003030125A1 (en) * | 2001-09-25 | 2003-04-10 | Werner Keber | Method and device for preventing unpermitted approach of airplanes to objects on the ground which are to be protected |
US6584383B2 (en) * | 2001-09-28 | 2003-06-24 | Pippenger Phillip Mckinney | Anti-hijacking security system and apparatus for aircraft |
US6675095B1 (en) | 2001-12-15 | 2004-01-06 | Trimble Navigation, Ltd | On-board apparatus for avoiding restricted air space in non-overriding mode |
US20040054472A1 (en) * | 2002-09-17 | 2004-03-18 | Koncelik Lawrence J. | Controlling aircraft from collisions with off limits facilities |
FR2861871B1 (en) * | 2003-11-04 | 2006-02-03 | Thales Sa | METHOD FOR MONITORING THE FLOW OF THE FLIGHT PLAN OF A COOPERATIVE AIRCRAFT |
FR2864269B1 (en) * | 2003-12-19 | 2006-04-07 | Thales Sa | METHOD FOR AIDING LOW ALTITUDE NAVIGATION OF AN AIRCRAFT |
FR2875916B1 (en) * | 2004-09-28 | 2015-06-26 | Eurocopter France | METHOD AND DEVICE FOR AIDING THE STEERING OF A ROTATING SAILBOAT AIRCRAFT IN THE VICINITY OF A POSITION OR TAKE-OFF POINT |
US20090177339A1 (en) * | 2005-03-03 | 2009-07-09 | Chen Robert H | Optimization and Mechanization of Periodic Flight |
FR2883403A1 (en) * | 2005-03-17 | 2006-09-22 | Airbus France Sas | METHOD AND SYSTEM FOR FIELD ENJOYMENT FOR AN AIRCRAFT |
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US20130046459A1 (en) * | 2010-04-22 | 2013-02-21 | Eiji Itakura | Flight state control device of flying object |
WO2012046327A1 (en) * | 2010-10-07 | 2012-04-12 | トヨタ自動車株式会社 | Aircraft designing method, safety map generating device, and aircraft controlling device |
US9117368B2 (en) * | 2011-09-09 | 2015-08-25 | Honeywell International Inc. | Ground based system and methods for providing multiple flightplan re-plan scenarios to a pilot during flight |
US8965600B2 (en) * | 2012-07-26 | 2015-02-24 | Ge Aviation Systems, Llc | Method for displaying a flight plan |
US9043136B2 (en) | 2012-07-26 | 2015-05-26 | Ge Aviation Systems, Llc | Method for displaying suitability of future waypoint locations |
US8797190B2 (en) | 2012-07-26 | 2014-08-05 | General Electric Company | Method for displaying a user entered flight path |
JP6133506B2 (en) | 2014-04-17 | 2017-05-24 | エスゼット ディージェイアイ テクノロジー カンパニー リミテッドSz Dji Technology Co.,Ltd | Flight control for flight restricted areas |
US9262929B1 (en) * | 2014-05-10 | 2016-02-16 | Google Inc. | Ground-sensitive trajectory generation for UAVs |
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US10420397B2 (en) | 2016-12-14 | 2019-09-24 | Black Brass, Inc. | Foot measuring and sizing application |
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1996
- 1996-06-07 FR FR9607078A patent/FR2749675B1/en not_active Expired - Fee Related
-
1997
- 1997-06-03 WO PCT/FR1997/000972 patent/WO1997048027A1/en active IP Right Grant
- 1997-06-03 CA CA002257338A patent/CA2257338C/en not_active Expired - Fee Related
- 1997-06-03 DE DE69701223T patent/DE69701223T2/en not_active Expired - Fee Related
- 1997-06-03 US US09/147,354 patent/US6161063A/en not_active Expired - Lifetime
- 1997-06-03 EP EP97926088A patent/EP0904574B1/en not_active Expired - Lifetime
- 1997-06-03 JP JP10501278A patent/JP2000515088A/en active Pending
Non-Patent Citations (1)
Title |
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See references of WO9748027A1 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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US7830274B2 (en) | 2007-02-14 | 2010-11-09 | Siemens Aktiengesellschaft | Method and device for improving traffic safety |
Also Published As
Publication number | Publication date |
---|---|
DE69701223D1 (en) | 2000-03-02 |
FR2749675B1 (en) | 1998-08-28 |
CA2257338C (en) | 2005-10-25 |
FR2749675A1 (en) | 1997-12-12 |
JP2000515088A (en) | 2000-11-14 |
CA2257338A1 (en) | 1997-12-18 |
DE69701223T2 (en) | 2000-06-21 |
WO1997048027A1 (en) | 1997-12-18 |
EP0904574B1 (en) | 2000-01-26 |
US6161063A (en) | 2000-12-12 |
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